Method and apparatus for modeling interactions

Xavier, Patrick G

Method and apparatus for modeling interactions

Patent · Sat Jan 01 04:00:00 EST 2000

OSTI ID:873135

Xavier, Patrick G ^[1]

Albuquerque, NM

A method and apparatus for modeling interactions between bodies. The method comprises representing two bodies undergoing translations and rotations by two hierarchical swept volume representations. Interactions such as nearest approach and collision can be modeled based on the swept body representations. The present invention can serve as a practical tool in motion planning, CAD systems, simulation systems, safety analysis, and applications that require modeling time-based interactions. A body can be represented in the present invention by a union of convex polygons and convex polyhedra. As used generally herein, polyhedron includes polygon, and polyhedra includes polygons. The body undergoing translation can be represented by a swept body representation, where the swept body representation comprises a hierarchical bounding volume representation whose leaves each contain a representation of the region swept by a section of the body during the translation, and where the union of the regions is a superset of the region swept by the surface of the body during translation. Interactions between two bodies thus represented can be modeled by modeling interactions between the convex hulls of the finite sets of discrete points in the swept body representations.

Research Organization:: SANDIA CORP

DOE Contract Number:: AC04-94AL85000

Assignee:: Sandia Corporation (Albuquerque, NM)

Patent Number(s):: US 6099573

Application Number:: 09/061973

OSTI ID:: 873135

Country of Publication:: United States

Language:: English

References (11)

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A fast procedure for computing the distance between complex objects in three-dimensional space Gilbert, E. G.; Johnson, D. W.; Keerthi, S. S. IEEE Journal on Robotics and Automation, Vol. 4, Issue 2 https://doi.org/10.1109/56.2083	journal	April 1988
Collision detection by four-dimensional intersection testing Cameron, S. IEEE Transactions on Robotics and Automation, Vol. 6, Issue 3 https://doi.org/10.1109/70.56661	journal	June 1990
Hierarchical object models for efficient anti-collision algorithms Faverjon, B. Proceedings, 1989 International Conference on Robotics and Automation https://doi.org/10.1109/ROBOT.1989.100010	conference	January 1989
OBBTree: a hierarchical structure for rapid interference detection Gottschalk, S.; Lin, M. C.; Manocha, D. Proceedings of the 23rd annual conference on Computer graphics and interactive techniques - SIGGRAPH '96 https://doi.org/10.1145/237170.237244	conference	January 1996
Efficient collision detection using fast distance-calculation algorithms for convex and non-convex objects Sato, Y.; Hirata, M.; Maruyama, T. Proceedings of IEEE International Conference on Robotics and Automation https://doi.org/10.1109/ROBOT.1996.503867	conference	January 1996
Fast swept-volume distance for robust collision detection Xavier, P. G. Proceedings of International Conference on Robotics and Automation https://doi.org/10.1109/ROBOT.1997.614295	conference	January 1997
Efficient distance computation between non-convex objects Quinlan, S. Proceedings of the 1994 IEEE International Conference on Robotics and Automation https://doi.org/10.1109/ROBOT.1994.351059	conference	January 1994
A generic algorithm for constructing hierarchical representations of geometric objects Xavier, P. G. Proceedings of IEEE International Conference on Robotics and Automation https://doi.org/10.1109/ROBOT.1996.509268	conference	January 1996
Oct-trees and their use in representing three-dimensional objects Jackins, Chris L.; Tanimoto, Steven L. Computer Graphics and Image Processing, Vol. 14, Issue 3 https://doi.org/10.1016/0146-664X(80)90055-6	journal	November 1980

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Method and apparatus for modeling interactions

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References (11)

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